How to get 3D points of a Mesh in world space coordinates?
you would need sth like this to get the object in world coordinates
import bpy
from mathutils import Euler, Matrix, Vector

            object_rotation = obj.rotation_euler
            object_translation = obj.location
            H_m2w = Matrix.Translation(Vector(object_translation)) @ Euler(
                object_rotation, 'XYZ').to_matrix().to_4x4()

            cam_H_m2c = H_m2w.inverted()

            cam_R_m2c = cam_H_m2c.to_quaternion().to_matrix()
            cam_t_m2c = cam_H_m2c.to_translation()